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@ -191,9 +191,26 @@ void PID_autotune(float temp)
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if(cycles > 2) {
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if(cycles > 2) {
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Ku = (4.0*d)/(3.14159*(max-min)/2.0);
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Ku = (4.0*d)/(3.14159*(max-min)/2.0);
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Tu = ((float)(t_low + t_high)/1000.0);
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Tu = ((float)(t_low + t_high)/1000.0);
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SERIAL_PROTOCOLPGM(" Ku: "); SERIAL_PROTOCOL(Ku);
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SERIAL_PROTOCOLPGM(" Tu: "); SERIAL_PROTOCOLLN(Tu);
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Kp = 0.6*Ku;
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Kp = 0.6*Ku;
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Ki = 2*Kp/Tu;
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Ki = 2*Kp/Tu;
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Kd = Kp*Tu/8;
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Kd = Kp*Tu/8;
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SERIAL_PROTOCOLLNPGM(" Clasic PID ")
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SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
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SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
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SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
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Kp = 0.33*Ku;
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Ki = Kp/Tu;
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Kd = Kp*Tu/3;
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SERIAL_PROTOCOLLNPGM(" Some overshoot ")
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SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
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SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
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SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
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Kp = 0.2*Ku;
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Ki = 2*Kp/Tu;
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Kd = Kp*Tu/3;
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SERIAL_PROTOCOLLNPGM(" No overshoot ")
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SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
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SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
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SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
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SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
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SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
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SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
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